KR20230174484A - hybrid gripper for robot bending system - Google Patents

Abstract

The present invention includes a bending machine (10) including a die (12) fixed to a frame body (11) supported on the ground and a punch (13) lifted toward the die (12); An articulated robot (20) including a plurality of jointed arms (22) that are supported on the robot body (21) and bent or unfolded at various angles, and a rotary arm (23) rotatably connected to the upper end of the jointed arms (22). It relates to a hybrid gripper for a robot bending system including ;, which lifts the base material (M) made of a metal plate that is supported on the rotating arm (23) and enters and exits between the die (12) and the punch (13) by vacuum suction or by physical force. It is characterized by being able to be picked up and lifted.

Description

Hybrid gripper for robot bending system {hybrid gripper for robot bending system}

The present invention relates to a hybrid gripper for moving a metal plate base material into and out of a bending machine, and more specifically, to a hybrid gripper for a robot bending system that has a hybrid function that can lift the base material by vacuum suction or by physical force.

In general, a bending machine consists of a die fixed to a frame body supported on the ground and a punch that is lifted. With a base material made of metal plate positioned between the die and the punch, the punch is lowered and engaged with the punch, forming the base material into an "L", This is a device that bends objects in the shape of “U”, “T”, etc. In order to manufacture such a bent object, a process in which 1 to 2 workers repeatedly move the base material in and out between a die fixed to the bottom and a punch that is raised and lowered according to the bending sequence, and in some cases, accurately align and change the position, and move it in and out between the die and the punch. had to be repeated.

However, when the thickness or size of the metal plate base material is significant, it takes a lot of force for 1 to 2 workers to repeatedly move the metal plate in and out between the die and the punch, and as a result, there is always a risk of injury from dropping the base material during work. .

In addition, when entering the base material between the die and the punch, the entry position of the base material must be accurately aligned or the angle must be changed. This process requires skilled skills, physical strength, and concentration. As a result, if the base material is not skilled, productivity is reduced or defects are high. There was a problem with losing.

And because the bending environment is a representative 3D industry, there is not a lot of influx of new workers, and as the remaining skilled workers gradually age, productivity has gradually decreased.

Due to this problem, an articulated robot having a joint arm that moves at various angles and a rotary arm that rotates is installed on the front side of the bending machine, and a gripper that vacuum-adsorbs the base material is installed on the rotary arm to automatically press the bender. The technology of entering and exiting between the die and the punch was introduced.

However, in order for the gripper to vacuum adsorb the base material, there was a limitation that the base material had to be surface treated smoothly, and especially if the base material had a three-dimensional shape or had a curved surface, vacuum adsorption itself was impossible.

In addition, the weight that can realistically be lifted by vacuum adsorption is only about 5kg, and as a result, if the weight of the base material is heavy, it is difficult to firmly vacuum adsorb, causing problems such as the adsorption position changing or falling apart during transfer to the bending machine. There was this.

The present invention was created to solve the above problems, and provides a hybrid gripper for a robot bending system that does not require the surface of the base material to be smooth and is capable of gripping even if the base material is three-dimensional or has a curved surface. The purpose.

Another object of the present invention is to provide a hybrid gripper for a robot bending system that can firmly grip and lift the base material even if the weight of the base material is 5 kg or more.

In order to achieve the above object, the present invention is a bender 10 including a die 12 fixed to the frame body 11 supported on the ground and a punch 13 lifted toward the die 12. and; An articulated robot ( 20); relates to a hybrid gripper for a robot bending system, which is supported on the rotary arm (23) and vacuum-adsorbs the base material (M) made of a metal plate that enters and exits between the die (12) and the punch (13). It is characterized in that it can be lifted by lifting or picking up with physical force.

In the present invention, a gripper body 31 coupled to the rotary arm 23, and a pair of vacuum suction plates 32 installed on both sides of the lower end of the gripper body 31 to vacuum suction the surface of the base material (M). ) and a first finger operating unit 34 located on one front side of the gripper body 31 and having a pair of first fingers 33 for gripping the base material M with physical force, and the gripper It is located on the other front side of the body 31 and includes a second finger operating unit 36 having a pair of second fingers 35 for gripping the base material M with physical force.

In the present invention, the hybrid gripper 30 moves the first finger operating unit 34 toward the second finger operating unit 36 to form a space between the first and second finger operating units 34 and 36. It further includes a position variable portion 37 for varying the spacing.

In the present invention, the position variable portion 37 is formed in the horizontal direction on the gripper body 31 and operates the actuator head 34a protruding toward the rear side of the first finger actuator 34 to operate the second finger. A guide rail groove (37a) for guiding toward the unit 36, and a gripper screw (37b) screwed together to penetrate the operating unit head (34a) and rotatable in the horizontal direction inside the guide rail groove (37a). ) and a screw motor (37c) installed on the gripper body (31) to rotate the gripper screw (37b) forward and backward.

In the present invention, the hybrid gripper 30 further includes a magnetic adsorption portion 38 that is located on the gripper body 31 on the opposite side of the vacuum suction plate 32 and adsorbs and lifts the base material M by magnetic force. Includes.

In the present invention, the magnetic adsorption portion 38 includes a magnetic pad 38a in close contact with the surface of the base material M, a pad cap 38b extending to the lower side of the magnetic pad 38a, and It includes a coil 38c that is wound around the pad cap 38b and generates a magnetic field to generate magnetic force in the magnetic pad 38a.

In the present invention, the hybrid gripper 30 includes a shock absorber 39 that is fixed to the gripper body 31 and absorbs shock generated in the process of the magnetic adsorption portion 38 adsorbing the base material (M). It further includes.

In the present invention, the shock absorber 39 includes a shock base 39a fixed to the gripper body 31, and a pad cap 39b of the magnetic adsorption portion extending upward from the edge of the shock absorber base 39a. A shock absorber pipe body (39b) that surrounds the shock absorber pipe body (39a) so that it can move up and down, a separation prevention protrusion (39c) formed on the upper end of the shock absorber pipe body (39a) and hung on the edge of the pad cap (38b) of the magnetic attraction part, and the shock absorber base (39a). ) and a shock spring (39e) installed between the pad cap (38b).

According to the hybrid gripper 30 of the present invention, a vacuum suction plate 32 that lifts the base material (M) by vacuum suction, and first and second fingers 33 and 35 that pick up the base material (M) with physical force. And, by providing a magnetic adsorption unit 38 that lifts the base material (M) by magnetic force, a base material (M) with an untreated surface, a heavy and thick base material (M), and a base material (M) with a curved surface or a three-dimensional shape. It can be completely gripped and transferred to and from the bending machine (10).

In addition, since the first and second fingers 33 and 35 can pick up the base material (M) with physical force, it is possible to firmly grip and lift not only low weight but also heavy base materials (M) weighing more than 10 kg. Furthermore, gripping and accurate handling can be enabled with a base material (M) thicker than several mm.

1 is a side view schematically illustrating a robot bending system to which a hybrid gripper according to the present invention is applied;
Figure 2 is a perspective view showing an excerpt of the joint robot of Figure 1;
Figure 3 is a perspective view showing an excerpt of the hybrid gripper of Figure 1;
Figure 4 is a cross-sectional view taken along line IV-IV of the hybrid gripper of Figure 3;
Figure 5 is a diagram for explaining the operation of the first and second fingers of Figure 4;
Figure 6 is a cross-sectional view taken along line VI-VI of the hybrid gripper of Figure 3;
Figure 7 is a rear view of the hybrid gripper of Figure 6;
Figure 8 is a diagram for explaining the operation of the first and second finger operating units of Figure 6;
FIG. 9 is a diagram illustrating that the hybrid gripper of FIG. 3 includes a magnetic adsorption portion that magnetically adsorbs the base material and a shock absorber;
Figure 10 is a diagram for explaining the operation of the magnetic adsorption unit and shock absorber of Figure 9.
Figure 11 is a cross-sectional view for explaining the configuration of a station supporting the joint robot of Figure 1;
FIG. 12 is a diagram for explaining the operation of the station of FIG. 11;

Hereinafter, the hybrid gripper for a robot bending system according to the present invention will be described in detail with reference to the attached drawings.

Hereinafter, the term “above” or “above” may include not only what is directly above in contact but also what is above without contact. Terms such as first, second, etc. may be used to describe various components, but the components should not be limited by the terms. Terms are used only to distinguish one component from another. Singular expressions include plural expressions unless the context clearly dictates otherwise. Additionally, when a part "includes" a certain component, this means that it may further include other components rather than excluding other components, unless specifically stated to the contrary. Additionally, terms such as "...unit" and "module" used in the specification refer to a unit that processes at least one function or operation.

Figure 1 is a side view schematically illustrating a robot bending system to which a hybrid gripper according to the present invention is applied, and Figure 2 is a perspective view showing an excerpt of the articulated robot of Figure 1.

As shown, the hybrid gripper 30 according to the present invention is a bender including a die 12 fixed to the frame body 11 supported on the ground and a punch 13 lifted toward the die 12. (10) and; An articulated robot (20) including a plurality of jointed arms (22) that are supported on the robot body (21) and bent or unfolded at various angles, and a rotary arm (23) rotatably connected to the upper end of the jointed arms (22). class; a control unit 40 that controls the operation of the hybrid gripper 30; It is applied to a robot bending system for factory automation that includes a station 50 for positioning the robot body 21 on the front side of the bending machine 10, and is supported on the rotary arm 23 to form a die 12 and a punch ( 13) The base material (M) made of a metal plate that goes in and out between the two can be lifted by vacuum suction or picked up by physical force.

As shown in FIG. 1, the bender 10 is capable of being raised and lowered on the frame body 11 in order to mesh with the die 11 and the die 12, which are fixed to the frame body 11 supported on the ground. Includes an installed punch (13). In order to bend the base material (M) into various shapes, concavo-convex jigs with various concavo-convex shapes and sizes are replaceably installed in the die 12 and the punch 13, and the concavo-convex jig with irregularities of a specific shape is replaced. By doing so, the base material (M) can be bent into various types of bending objects. Since this bending machine 10 is a common technology in the art, further detailed description will be omitted.

As shown in FIG. 2, the articulated robot 20 includes a robot body 21 installed in the station 50 and a plurality of joints supported on the robot body 21 to realize movement of multiple degrees of freedom. It includes an arm 22 and a rotary arm 23 rotatably installed at the end of the joint arm 22.

The hybrid gripper 30 is coupled to the rotary arm 23, and is linked to the joint motion of the articulated arm 22 and the rotational motion of the rotary arm 23 to tilt the hybrid gripper 30 at various angles or move it to a different position. Let it be transported.

Actuators are installed at each joint of the plurality of joint arms 22 and the rotary arm 23 to perform various movements or tilting operations according to control commands generated by the control unit 40.

The control unit 40 includes software with a built-in algorithm that generates a control command to perform an operation such that the hybrid gripper 30 grips the bending object M and transfers it to the die 12 and the punch 13. , It may be in the form of software built into the articulated robot 20 itself, or it may be installed in a separate terminal device or computer connected to communication with the articulated robot 20 as an independent module containing the above-described software. This control unit 40 controls the gripping operation (Gripping) of the hybrid gripper 30, the lifting operation (Lifting) of raising and lowering the hybrid gripper 30, the shifting operation (Shifting) of transporting the hybrid gripper 30, and the hybrid gripper 30. A control command is generated to perform operations including a tilting operation to tilt the gripper 30 and a releasing operation to release the creeping of the hybrid gripper 30 in a predetermined time-serial order.

The time series sequence of the operation of the hybrid gripper 30 controlled by the control unit 40 may be input by the user, and for this purpose, a separate device for user input is installed in the joint robot, terminal device, or computer where the control unit 40 is installed. Alternatively, it may be designed to include a display.

FIG. 3 is a perspective view of the hybrid gripper of FIG. 1, FIG. 4 is a cross-sectional view taken along line IV-IV of the hybrid gripper of FIG. 3, and FIG. 5 illustrates the operation of the first and second fingers of FIG. 4. This is a drawing for

The hybrid gripper 30 is coupled to the rotary arm 23 and moves the base material M made of a metal plate into and out between the die 12 and the punch 13 of the bender 10. As shown in Figure 3, this hybrid gripper 30 is installed on both sides of the gripper body 31 coupled to the rotary arm 23 and the lower end of the gripper body 31 to vacuum the surface of the base material M. A first finger operating unit ( 34) and a second finger operating unit 36 located on the other front side of the gripper body 31 and having a pair of second fingers 35 for gripping the base material M with physical force.

As shown in FIG. 3, the vacuum suction plate 32 is flat overall and has an elliptical opening formed downward. The vacuum suction plate 32 vacuum-adsorbs the base material (M) by forming a vacuum on the inside while in close contact with the flat surface of the base material (M), and conversely releases the vacuum on the inside to separate the base material (M). This vacuum suction plate 32 is used to vacuum adsorb a base material (M) that has been surface treated or has a flat surface.

As shown in FIG. 4, the first and second finger operating units 34 and 36 include a pair of first fingers 33 and a second finger that protrudes forward from one side and the other side of the gripper body 31. 2 fingers (35) are installed. As shown in FIG. 5, the first and second finger operating units 34 and 36 move a pair of first and second fingers 33 and 35 away from each other to physically pick up the base material M. Make it narrow.

First and second friction pads 33a and 35a are installed on opposing surfaces of the first and second fingers 33 and 35 to provide friction to prevent slipping when gripping the base material M. The first and second friction pads 33a and 35a prevent the first and second fingers 33 and 35 from slipping when they pick up the heavy base material (M) with physical force.

These first and second fingers 33 and 35 are base materials (M) that cannot be vacuum-adsorbed by the vacuum suction plate 32 because the surface is not flat or not treated, or base materials that cannot be vacuum-adsorbed because they have a three-dimensional shape. (M) is physically picked up.

In this way, the hybrid gripper 30 of the present invention uses an independently operating vacuum suction plate 32 and the first and second fingers 33 and 35 to vacuum adsorb the base material (M) or the base material (M). ) can be picked up with physical force, and thus gripping for transfer to the bender 10 is possible regardless of the shape of the base material (M).

As mentioned, in order to grip the base material (M) by vacuum adsorption, the base material (M) must be a cold-rolled metal with surface treatment, and the weight should not exceed a maximum of 5Kg and a thickness of 1mm.

However, in the case of the hybrid gripper 30 of the present invention, by employing the first and second fingers 33 and 35 as well as the vacuum suction plate 32, the base material that has not been surface treated or weighs more than 5 kg and is more than several mm Perfect gripping is possible even if the base material (M) is thick or has a curved or three-dimensional surface.

FIG. 6 is a cross-sectional view taken along line VI-VI of the hybrid gripper of FIG. 3, FIG. 7 is a rear view of the hybrid gripper of FIG. 6, and FIG. 8 is a view for explaining the operation of the first and second finger actuators of FIG. 6. am.

The hybrid gripper 30 of the present invention is used to change the gap between the first and second finger operating units 34 and 36 by moving the first finger operating unit 34 toward the second finger operating unit 36. Includes a position variable portion (37). The position variable portion 37 is formed in the horizontal direction on the gripper body 31 and guides the operating unit head 34a protruding toward the rear of the first finger operating unit 34 toward the second finger operating unit 36. A guide rail groove (37a) for the gripper screw (37b) that is screw-coupled to penetrate the operating head (34a) and rotatably installed in the horizontal direction inside the guide rail groove (37a), and the gripper body (31). It includes a screw motor (37c) that is installed to rotate the gripper screw (37b) forward and backward.

Due to this structure, as the screw motor 37c rotates forward and backward, the first finger operating unit 34 can approach the second finger operating unit 36 along the guide rail groove 37a, and accordingly, the first finger operating unit 34 can approach the second finger operating unit 36 along the guide rail groove 37a. , Since the spacing between the first and second fingers (33) (35) installed on each of the two finger operating units (34) (36) is variable, accurate gripping is possible even if the size or shape of the base material (M) varies. .

FIG. 9 is a diagram for explaining that the hybrid gripper of FIG. 3 includes a magnetic adsorption unit for magnetically adsorbing the base material and a shock absorber, and FIG. 10 is a diagram for explaining the operation of the magnetic adsorption unit and shock absorber for FIG. 9. am.

The hybrid gripper 30 is fixed to the gripper body 31 and the magnetic adsorption portion 38, which is located on the gripper body 31 on the opposite side of the vacuum suction plate 32 and lifts the base material M by magnetic force. The magnetic adsorption unit 38 includes a shock absorber 39 that absorbs shock generated in the process of adsorbing the base material (M).

The magnetic adsorption portion 38 is wound around the magnetic pad 38a, which is in close contact with the surface of the base material M, the pad cap 38b, which extends to the lower side of the magnetic pad 38a, and the pad cap 38b, thereby providing magnetic force. It includes a coil 38c that generates a magnetic field to generate magnetic force in the pad 38a, and a pad guide groove 38d opened downward at the center of the pad cap 38b.

The magnetic pad 38a and the pad cap 38b are made of pure iron and form a skein so that the coil 37c can be wound.

The magnetic pad 38a has an oval shape so that it can be adsorbed to the base material M over a large area.

The shock absorber 39 includes a shock base 39a fixed to the gripper body 31, a shock pipe body 39b extending upward from the edge of the shock base 39a and surrounding the pad cap 39b so that it can move up and down, A separation prevention protrusion (39c) formed at the top of the shock pipe body (39a) and hung on the edge of the pad cap (38b), and a guide protrusion (39d) formed at the center of the shock absorber base (39a) and inserted into the pad guide groove (38d). ) and a shock absorber spring (39e) installed between the shock absorber base (39a) and the pad cap (38b).

When the hybrid gripper 30 approaches the base material (M) to magnetically adsorb the base material (M), the shock absorber (39) approaches the magnetic adsorption unit (38) to the base material (M), and the magnetic adsorption unit (38) is pressed and magnetically adsorbed. The shock applied to the unit 38 is absorbed by the shock absorber spring 39e to prevent the base material M from being damaged or the magnetic adsorption unit 38 from being damaged.

By this structure, in a state where power is not applied to the coil 38c, the hybrid gripper 30 brings the magnetic pad 38a close to the surface of the base material M, and then applies power to the coil 38c. By generating magnetic force in the magnetic pad 38a, the base material (M) is adsorbed by magnetic force. In this state, the hybrid gripper 30 can move the base material (M), and when the base material (M) is transferred to the correct point between the die 12 and the punch 13, the power applied to the coil 38c is turned on. By blocking, the base material (M) is separated from the magnetic pad (38a).

FIG. 11 is a cross-sectional view for explaining the configuration of a station supporting the joint robot of FIG. 1, and FIG. 12 is a diagram for explaining the operation of the station of FIG. 11.

The station 50 positions the robot body 21 on the front side of the bender 10 and, if necessary, moves the position of the robot body 21 to the left or right with respect to the bender 10. You can.

In general, since the bender 10 must bend base materials (M) of various sizes, the horizontal lengths of the die 12 and the punch 13 range from 1.5 m to 3 m, and the die 12 By installing a jig with a specific type of convex-convex surface on each of the punches 13, various types of bending objects can be manufactured.

However, when it is necessary to manufacture several bending objects with different shapes, the A jig is installed in the die 12 and the punch 13 to manufacture the bending objects, and then the A jig is used in the die 12 and the punch 13. After removing and installing the B jig, many complex tasks had to be performed, such as resetting the motion of the articulated robot 20 and aligning the gripping position of the hybrid gripper 30, and a lot of time was spent in this process. It took.

In the present invention, the A jig, B jig, and C jig are installed between one side of the die 12 and the punch 13, and the operation of the articulated robot 20 and the alignment setting of the hybrid gripper 30 are set in advance. As a result, when the station 50 wants to manufacture another bending object after manufacturing the bending object, the articulated robot 20 can be easily moved to a position corresponding to a specific jig.

For this purpose, the station 50 of the present invention includes a station base 51 supported on the ground so as to face the bender 10 and having first and second base side walls 51a and 51b formed on both sides, and a pair of The mover stage 52 moves forward and backward while supporting the robot body 21 at the station base 51 between the base side walls 51a and 51b, and rotates through the first and second base side walls 51a and 51b. Possibly installed are first and second rotating caps (53) (54) formed with first and second coupling through holes (53a) (54a), and a pair of screws installed to face each other on both walls of the mover stage (52). A nut 55, a screw 56 that is fixed to the first and second coupling penetrations 53a and 54a in a screwed state with a pair of screw nuts 55, and a first rotating cap 53. A first one-way clutch 57 that is coupled to rotate only clockwise, a second one-way clutch 58 that is coupled to the second rotation cap 54 to rotate only counterclockwise, and first and second circle It is attached to and detached from the way clutches 57 and 58 and includes a load lever 59 that rotates the first one-way clutch 57 clockwise or the second one-way clutch 58 counterclockwise. .

The station base 51 guides the mover stage 52 so that it can be moved to the left or right based on the front center of the bending machine 10. The station base 51 guides the mover stage 52 to move forward and backward in a constant orbit on the floor. A guide rail (51c) is installed to do this. The guide rail 51c is slidably inserted into a long guide groove (not shown) formed on the bottom of the mover stage 52 so as to face the first and second base side walls. Accordingly, the mover stage 52 can be transported back and forth in the station base 51.

The mover stage 52 supports the articulated robot 20 so that it can be relocated to the left or rear of the bender 10.

The screw 56 and the screw nut 55 coupled with the screw are installed on both sides of the mover stage 52, and as the screw 56 rotates clockwise or counterclockwise, the mover stage 52 moves to the left or left. Can be moved posteriorly.

A first lever fitting end (57a) into which the load lever 59 is removably inserted is formed on the outer surface of the first one-way clutch 57, and a load lever 59 is formed on the outer peripheral surface of the second one-way clutch 58. ) A second lever insertion stage 58a is formed into which the lever is removably inserted.

The first one-way clutch 57 rotates the inner ring only clockwise by having a clutch gear built in between the inner ring and the outer ring, and the first rotation cap 53 is coupled and fixed to the inner ring. The first one-way clutch (57) inserts the load lever (59) into the first lever fitting end (57a) and then rotates the first rotating cap (53) fixedly coupled to the inner ring in a clockwise direction by repeatedly pulling. It rotates, and accordingly, the screw 56 coupled to the first rotation cap 53 rotates only clockwise.

The second one-way clutch 58 rotates the inner ring only counterclockwise by having a clutch gear built in between the inner ring and the outer ring, and the first rotation cap 53 is coupled and fixed to the inner ring. The second one-way clutch (58) inserts the load lever (59) into the second lever fitting end (58a) and then rotates the second rotating cap (53) fixedly coupled to the inner ring in a counterclockwise direction by repeatedly pulling it. and the screw 56 coupled with the second rotation cap 54 rotates only clockwise.

By this station 50, the articulated robot 0 can freely move to a position approaching various jigs installed on the die 12 and the punch 13, and thus the operation of the articulated robot 20 By minimizing various complex tasks such as newly setting and aligning the gripping position of the hybrid gripper 30, operation is flexible even for small-scale and small-scale production.

As such, the hybrid gripper 30 of the present invention includes a vacuum suction plate 32 that lifts the base material M by vacuum suction, and first and second fingers 33 that pick up the base material M with physical force ( 35) and a magnetic adsorption unit 38 that lifts the base material (M) by magnetic force, so that the base material (M) without surface treatment, the heavy and thick base material (M), the base material (M) with a curved surface or a three-dimensional shape ( Even M) can be perfectly gripped and transported to and from the bending machine (10).

In addition, since the first and second fingers 33 and 35 can pick up the base material (M) with physical force, it is possible to firmly grip and lift not only low weight but also heavy base materials (M) weighing more than 10 kg. Furthermore, gripping and accurate handling can be enabled with a base material (M) thicker than several mm.

The present invention has been described with reference to an embodiment shown in the drawings, but this is merely illustrative, and those skilled in the art will understand that various modifications and other equivalent embodiments are possible therefrom.

10 ... bender 11 ... frame body
12...Die 13...Punch
20 ... articulated robot 21 ... robot body
22 ... Articulating arm 23 ... Rotating arm
30 .... Hybrid gripper 31 ... Gripper body
32 ... vacuum suction plate 33 ... first finger
33a ... first friction pad 34 ... first finger operating part
34a ... operating head 35 ... 2nd finger
35a ... 1st friction pad 36 ... 2nd finger operating part
37 ... position variable part 37a ... guide rail groove
37b ... gripper screw 37c ... screw motor
38 ... magnetic adsorption section 39 ... shock absorber
38a ... magnetic pad 38b ... pad cap
38c ... coil 38d ... pad guide groove
39a ... shock absorber base 39b ... shock absorber body
39c ... breakaway bump 39d ... guide protrusion
39e ... shock spring 40 ... control unit
50 ... Station 51 ... Station Base
51a, 51b ... 1st and 2nd base side walls 51c ... guide rail
53, 54 ... 1st and 2nd rotating caps 53a, 54a ... 1st and 2nd combined through-holes
55 ... screw nut 56 ... screw
57 ... 1st one-way clutch 57a ..... 1st lever fitting end
58 ... 2nd one-way clutch 58a ... 2nd lever fitting end
59 ... rod lever

Claims (8)

A bender (10) including a die (12) fixed to the frame body (11) supported on the ground and a punch (13) lifted toward the die (12); An articulated robot ( 20); relates to a hybrid gripper for a robot bending system including,
A robot, characterized in that the base material (M) made of a metal plate supported by the rotary arm (23) and moved in and out between the die (12) and the punch (13) can be lifted by vacuum suction or picked up by physical force. Hybrid gripper for bending systems. According to paragraph 1,
A gripper body (31) coupled to the rotary arm (23),
A pair of vacuum suction plates (32) installed on both sides of the lower end of the gripper body (31) to vacuum suction the surface of the base material (M),
A first finger operating unit (34) located on one front side of the gripper body (31) and having a pair of first fingers (33) for gripping the base material (M) with physical force,
Characterized in that it is located on the other front side of the gripper body 31 and includes a second finger operating unit 36 having a pair of second fingers 35 for gripping the base material M with physical force. , Hybrid gripper for robot bending system. The method of claim 2, wherein the hybrid gripper 30,
A position variable portion 37 is further provided to change the distance between the first and second finger operating portions 34 and 36 by moving the first finger operating portion 34 toward the second finger operating portion 36. A hybrid gripper for a robot bending system, characterized in that it includes. The method of claim 3, wherein the position variable portion (37) is,
A guide rail groove (37a) formed in the horizontal direction on the gripper body (31) for guiding the operating unit head (34a) protruding toward the rear of the first finger operating unit (34) toward the second finger operating unit (36). class,
A gripper screw (37b) screw-coupled to penetrate the operating head (34a) and rotatably installed in the horizontal direction inside the guide rail groove (37a),
A hybrid gripper for a robot bending system, characterized in that it includes a screw motor (37c) installed on the gripper body (31) to rotate the gripper screw (37b) forward and backward. The method of claim 2, wherein the hybrid gripper 30,
A hybrid gripper for a robot bending system, characterized in that it further includes a magnetic adsorption portion 38 located on the gripper body 31 on the opposite side of the vacuum suction plate 32 to adsorb and lift the base material M by magnetic force. . The method of claim 5, wherein the magnetic adsorption unit 38 is,
A magnetic pad (38a) in close contact with the surface of the base material (M),
A pad cap (38b) extending to the lower side of the magnetic pad (38a),
A hybrid gripper for a robot bending system, characterized in that it includes a coil (38c) that is wound around the pad cap (38b) and generates a magnetic field to generate magnetic force in the magnetic pad (38a). The method of claim 2, wherein the hybrid gripper 30,
Characterized in that it further comprises a shock absorber (39) fixed to the gripper body (31) to absorb shock generated in the process of the magnetic adsorption unit (38) adsorbing the base material (M). The method of claim 7, wherein the shock absorber (39) is,
A shock absorber base (39a) fixed to the gripper body (31),
A shock tube body (39b) extending upward from the edge of the shock base (39a) and movably surrounding the pad cap (39b) of the magnetic adsorption unit,
A separation prevention protrusion (39c) formed at the top of the shock pipe body (39a) and hung on the edge of the pad cap (38b) of the magnetic adsorption unit,
A hybrid gripper for a robot bending system, comprising a shock spring (39e) installed between the shock base (39a) and the pad cap (38b).

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